CN109515692A - Autogyro obstacle avoidance system based on sonar - Google Patents
Autogyro obstacle avoidance system based on sonar Download PDFInfo
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- CN109515692A CN109515692A CN201811645005.4A CN201811645005A CN109515692A CN 109515692 A CN109515692 A CN 109515692A CN 201811645005 A CN201811645005 A CN 201811645005A CN 109515692 A CN109515692 A CN 109515692A
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- 238000004377 microelectronic Methods 0.000 claims abstract description 14
- 239000003990 capacitor Substances 0.000 claims description 104
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- 238000013461 design Methods 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 20
- 230000002093 peripheral effect Effects 0.000 description 11
- 238000004891 communication Methods 0.000 description 4
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- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 description 2
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C19/00—Aircraft control not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2201/00—UAVs characterised by their flight controls
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- Aviation & Aerospace Engineering (AREA)
- Remote Sensing (AREA)
- Mechanical Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
Autogyro obstacle avoidance system based on sonar.The present invention relates to a kind of autogyro obstacle avoidance system based on sonar.Microelectronics processor/coprocessor receives the signal of sonar sensor, navigation attitude measuring appliance, position measuring appliance, velocity meter and height measuring gauge, the microelectronics processor U7/ coprocessor U9 transmits a signal to direction steering engine, and the direction steering engine includes lifting steering engine, aileron steering engine and throttle steering engine.The autogyro that present invention design is safer, performance is relatively reliable will have very significant human rights guarantee and social benefit.
Description
Technical field:
The present invention relates to a kind of autogyro obstacle avoidance system based on sonar.
Background technique:
Autogyro is referred to as the technologies such as " air-robot ", especially microelectronics, navigation, control, communication, greatly pushes away
The development for having moved flight control system promotes flight control system in the application in military and civilian field.
From the propeller of rear of aircraft, it is connected power when flying before gyroplane with the engine of gyroplane, rotation
Get up and blow air backward, to realize the flight forward of aircraft.Moreover, autogyro has empennage, and need to pass through it
Control the direction of flight.Just because of this, the operation very simple of gyroplane.Due to the good division of labor of " rotor+propeller ", rotor
The dynamical system very simple of machine, and it is of less demanding, and the motorcycle engine of a larger displacement is just enough to drive a frame small
Type gyroplane.
Currently, autogyro obstacle avoidance system is very complete for large and medium-sized barrier or landform, still
Small obstacle still can not be hidden, according to investigations, the autogyro air crash in the whole world about 60% or more
Event is related with microminiature barrier, so evading microminiature barrier as urgent problem to be solved.
Summary of the invention:
The object of the present invention is to provide a kind of the autogyro obstacle avoidance system based on sonar, the safer, performance of design
Relatively reliable autogyro will have very significant human rights guarantee and social benefit.
Above-mentioned purpose is realized by following technical scheme:
A kind of autogyro obstacle avoidance system based on sonar, microelectronics processor U7/ coprocessor U9 receive sonar and pass
Sensor, navigation attitude measuring appliance, position measuring appliance, velocity meter and height measuring gauge signal, the microelectronics processor U7/
Coprocessor U9 transmits a signal to direction steering engine,
The direction steering engine includes lifting steering engine, aileron steering engine and throttle steering engine.
Further, the microelectronics processor U7 includes chip U7A and chip U7B, and No. 12 of the chip U7A
No. 3 ends of end connection crystal oscillator X2, No. 2 ends ground connection of the crystal oscillator X2, the 4 of the crystal oscillator X2
Number end connection operating voltage+3.3V,
No. 11 ends of No. 6 of chip U7B end connection chip U7B, No. 19 ends of chip U7B, No. 28 of chip U7B
Operating voltage+3.3V is reconnected behind end, No. 50 ends of chip U7B, No. 75 ends of chip U7B and No. 100 ends of chip U7B,
No. 27 ends of No. 10 of chip U7B end connection chip U7B, No. 74 ends of chip U7B, chip U7B 99
Number end is grounded after holding with No. 20 of chip U7B,
No. 21 ends of the chip U7B connect operating voltage VDDA,
One end of the operating voltage VDDA connection capacitor C18, one end of capacitor C17 and one end of inductance L1, it is described
The other end of inductance L1 connect operating voltage+3.3V, the other end of the capacitor C18 connect with the other end of capacitor C17
After be grounded,
Operating voltage+the 3.3V is also connected with one end of capacitor C21, one end of capacitor C22, one end of capacitor C23, electricity
Hold one end of one end of C24, one end of capacitor C25, one end of capacitor C26 and capacitor C27, the other end of the capacitor C21
Connect the other end of capacitor C22, the other end of capacitor C23, the other end of capacitor C24, the other end of capacitor C25, capacitor C26
The other end, capacitor C27 the other end after be grounded,
Operating voltage+the 3.3V is also connected with No. 5 one end held with capacitor C19 at No. 4 ends of chip U8, chip U8,
No. 3 ends of other end connection chip U8 of the capacitor C19, No. 6 of chip U8 hold, are grounded behind one end of capacitor C20, described
No. 1 of chip U8 end of other end connection of capacitor C20, No. 2 ends of chip U8 and operating voltage+5V,
It is grounded after No. 94 end series resistance R16 of the chip U7A, No. 14 ends of the chip U7A connect resistance
The other end of one end of R17 and one end of capacitor C28, the resistance R17 connects operating voltage 3.3V, the capacitor C28
Other end ground connection, one end of No. 49 of chip U7A end connection capacitor C30, No. 73 ends of the chip U7A connect
One end of capacitor C29, the capacitor C30 the other end connection capacitor C29 the other end after be grounded.
The utility model has the advantages that
1. the peripheral circuit part of main control microprocessor of the invention, using STM32F429 as core processor, at this
The characteristics of managing device is arithmetic speed fast (dominant frequency 180MHz), the abundant convenient extension later to winged control of peripheral interface, has floating-point
Number arithmetic elements improve that the operation efficiency for flying control, industrial level processor stability height be small by external interference, is added in circuit
Many decoupling capacitances make the stability of hardware circuit higher, prevent outer signals from interfering processor.
2. the peripheral part of sonar controller of the invention, LV-MaxSonar-EZ1 ultrasonic wave sonar sensor, sonar are surveyed
Away from MB1010Pololu, have the characteristics that low-frequency vibration drives tiny organism, high frequency destroys detections of radar, small in size, power consumption compared with
It is small, cruising ability is strong.
3. the pressure-altitude sensor peripheral part of height measuring gauge of the invention is passed using MS5611 as pressure altitude
Sensor has elevation carrection high resolution (resolution ratio are as follows: 10cm), (1 μ A of operating current) low in energy consumption, modular peripheral size small,
Output peripheral interface is SPI, more convenient with the connection of primary processor in circuit design.
4. the attitude transducer peripheral circuit of low precision measure unit of the invention is using the very high module of integrated level,
The component counts for flying control circuit board top can be greatly reduced in this way, to make the overall volume for flying control become very little, in this way
It can be on the unmanned plane of volume very little, so that using more flexible
Detailed description of the invention:
Fig. 1 is the functional block diagram of the invention.
Fig. 2 is the circuit diagram of (a) chip U7A of the invention, (b) circuit diagram of chip U7B, (c) circuit diagram of chip U8,
(d) circuit diagram of crystal oscillator X2, (e) circuit diagram of inductance L1, (f) circuit diagram of capacitance group.
Circuit diagram of the Fig. 3 for (a) chip U9A of the invention, (b) circuit diagram of chip U9B, (c) circuit diagram of chip U9C,
(d) circuit diagram of chip U9D, (e) circuit diagram of chip U11, (f) circuit diagram of chip U10, (g) circuit of USB interface J1
Figure, (h) circuit diagram of capacitor C36-C39.
Fig. 4 is the circuit diagram of (a) serial ports JP16 of the invention, (b) circuit diagram of serial ports JP17.
Fig. 5 is the circuit diagram of (a) serial ports JP15A of the invention, (b) circuit diagram of serial ports JP15B, (c) electricity of serial ports JP15C
Lu Tu, (d) circuit diagram of resistance R47-R50.
Fig. 6 is the peripheral circuit connection figure of sonar sensor of the invention.
Fig. 7 is storage circuit figure of the invention.
Fig. 8 is attitude transducer circuit diagram of the invention.
Fig. 9 is analog-to-digital conversion module peripheral circuit connection figure of the invention.
Figure 10 is the pressure-altitude sensor peripheral circuit connection figure of invention.
Specific embodiment:
Embodiment 1
A kind of autogyro obstacle avoidance system based on sonar, microelectronics processor U7/ coprocessor U9 receive sonar and pass
Sensor, navigation attitude measuring appliance, position measuring appliance, velocity meter and height measuring gauge signal, the microelectronics processor U7/
Coprocessor U9 transmits a signal to direction steering engine,
The direction steering engine includes lifting steering engine, aileron steering engine and throttle steering engine.
Further, the microelectronics processor U7 includes chip U7A and chip U7B, and No. 12 of the chip U7A
No. 3 ends of end connection crystal oscillator X2, No. 2 ends ground connection of the crystal oscillator X2, the 4 of the crystal oscillator X2
Number end connection operating voltage+3.3V, (providing basic clock signal, for system with clock frequency needed for providing system),
No. 11 ends of No. 6 of chip U7B end connection chip U7B, No. 19 ends of chip U7B, No. 28 of chip U7B
Operating voltage+3.3V is reconnected behind end, No. 50 ends of chip U7B, No. 75 ends of chip U7B and No. 100 ends of chip U7B, is used
It is powered in chip U7A,
No. 27 ends of No. 10 of chip U7B end connection chip U7B, No. 74 ends of chip U7B, chip U7B 99
Number end is grounded after holding with No. 20 of chip U7B, can effectively inhibit external interference, while the reliability of the system can be improved,
The disturbing factor that reduction system itself generates,
No. 21 ends of the chip U7B connect operating voltage VDDA,
One end of the operating voltage VDDA connection capacitor C18, one end of capacitor C17 and one end of inductance L1, it is described
The other end of inductance L1 connect operating voltage+3.3V, the other end of the capacitor C18 connect with the other end of capacitor C17
After be grounded, output voltage waveforms can be improved and prevent big short circuit current from burning fault point,
Operating voltage+the 3.3V is also connected with one end of capacitor C21, one end of capacitor C22, one end of capacitor C23, electricity
Hold one end of one end of C24, one end of capacitor C25, one end of capacitor C26 and capacitor C27, the other end of the capacitor C21
Connect the other end of capacitor C22, the other end of capacitor C23, the other end of capacitor C24, the other end of capacitor C25, capacitor C26
The other end, capacitor C27 the other end after be grounded, can filtering interference signals, reduce ripple factor,
Operating voltage+the 3.3V is also connected with No. 5 one end held with capacitor C19 at No. 4 ends of chip U8, chip U8,
No. 3 ends of other end connection chip U8 of the capacitor C19, No. 6 of chip U8 hold, are grounded behind one end of capacitor C20, described
No. 1 of chip U8 end of other end connection of capacitor C20, No. 2 ends of chip U8 and operating voltage+5V, the circuit be linear steady
Volt circuit, the voltage for stablizing the circuit play the role of it is extraordinary,
It is grounded after No. 94 end series resistance R16 of the chip U7A, No. 14 ends of the chip U7A connect resistance
The other end of one end of R17 and one end of capacitor C28, the resistance R17 connects operating voltage 3.3V, the capacitor C28
Other end ground connection, one end of No. 49 of chip U7A end connection capacitor C30, No. 73 ends of the chip U7A connect
One end of capacitor C29 is grounded after the other end of the other end connection capacitor C29 of the capacitor C30, guarantees internal main pressure regulator
The voltage stabilization of device,
The model of the chip U7A and chip U7B are MC-ARM-STM32F4X9-SQ100.
Further, pressure-altitude sensor U6, the pressure-altitude sensor are packed into the height measuring gauge
No. 1 end of U6 connects operating voltage 3.3V, No. 2 end connection pressure-altitude sensor U6's of the pressure-altitude sensor U6
No. 3 end, this be in order to select communication bus mode, due to using spi bus connect, by the 2 of U6,3 feet connect, otherwise for
I2C bus,
No. 3 ends of No. 5 end connection chip U7A of the pressure-altitude sensor U6, the pressure-altitude sensor
No. 44 ends of No. 6 end connection chip U7A of U6, No. 45 of No. 7 end connection chip U7A of the pressure-altitude sensor U6
End, No. 43 ends of No. 8 end connection chip U7A of the pressure-altitude sensor U6, the 5 foot pieces choosing of pressure-altitude sensor U6
Whether foot control coremaking piece works, the 6 foot serial data delivery outlets of pressure-altitude sensor U6,7 feet of pressure-altitude sensor U6
Serial date transfer, the 8 foot serial data clocks of pressure-altitude sensor U6.
Further, chip U2 is packed into the memory, 7, No. 8 ports in the chip U2 connect operating voltage
No. 3 ports one in 3.3V, chip U2 terminate 3.3V operating voltage, and import the earth by C4, and No. 4 ports in chip U2 are led
Enter the earth, No. 1 port in chip U2 connects No. 16 ports of chip U7A, and No. 2 ports in chip U2 connect No. 17 of chip U7A
Port, No. 5 ports in chip U2 connect No. 18 ports of chip U7A, and No. 6 ports in chip U2 connect No. 84 ends of chip U7A
Mouthful, it can effectively prevent from storing data during power down in this way, and when starting next time using the data of last time,
The time is greatly saved without resurveying data.
Further, the sonar sensor includes chip U15, No. 1 end ground connection of the chip U15, described
No. 7 ends of chip U15 are grounded, and No. 3 ends of the chip U15 connect operating voltage+5V, and No. 3 ends of the chip U15 connect
No. 29 ports of coprocessor U9, No. 4 ends of the chip U15 connect No. 30 ports of coprocessor U9, the chip U15
Model MB1010, this is because chip U15 by information collection it is complete after be transferred to coprocessor U9 and carry out analysis avoidance.
Further, loading attitude transducer U1 in the navigation attitude measuring appliance, No. 11 of the attitude transducer U1
No. 55 ends, one end of resistance R6 and one end of capacitor C6 of end connection chip U7A, No. 2 ends of the attitude transducer U1 connect
It is grounded after connecing one end of capacitor C1, the other end and operating voltage of No. 3 of attitude transducer U1 end connection capacitor C1+
Operating voltage+3.3V is connected after No. 4 ends connection resistance R1 of 3.3V, the attitude transducer U1, this is because posture senses
The pin, is grounded when needing to download program, modifies program after convenient by the program downloading selection interface at No. 4 ends of device U1；
One end of No. 5 end connection resistance R2 of the attitude transducer U1 and one end of resistance R4, the resistance R2
The other end connect operating voltage+3.3V, the resistance R4 the other end ground connection, for select connect bus type be SPI,
One end of No. 6 end connection capacitor C5, No. 10 ends of attitude transducer U1 and the ground connection of the attitude transducer U1
End, the other end of No. 9 end connection capacitor C5 of the attitude transducer U1,
The other end of the resistance R6 connects operating voltage 3.3V, the other end ground connection of the capacitor C6, for selecting
Spi bus is selected,
No. 56 ends of No. 14 end connection chip U7A of the attitude transducer U1, No. 14 end numbers of attitude transducer U1
According to output interrupt identification pin is measured, can be notified by the pin after microelectronics processor data acquires and calculates
Attitude transducer,
No. 15 of the attitude transducer U1 hold No. 17 of No. 16 ends, attitude transducer U1 that connect attitude transducer U1
It is grounded after holding No. 18 ends with attitude transducer U1, No. 47 ends of No. 19 end connection chip U7A of the attitude transducer U1
With one end of resistance R3, the other end of the resistance R3 connects operating voltage+3.3V, No. 15 ends of attitude transducer U1 and 16
Number end be controller input, output pin, can externally send control signal and acquisition extraneous signal, attitude transducer U1's
No. 17 ends are serial bus data input pin, and No. 18 ends are biography row bus output pin.
The one end at No. 48 ends and resistance R7 of No. 20 end connection chip U7A of the attitude transducer U1, the electricity
The other end for hindering R7 connects operating voltage 3.3V, and No. 20 ends of attitude transducer U1 are I2C communication bus data output pins；
It is grounded behind one end and one end of capacitor C3 of No. 25 end connection capacitor C2 of the attitude transducer U1, is posture
The grounding ports of sensor U1 chip,
The other end of No. 28 end connection capacitor C2 of the attitude transducer U1, the other end and operating voltage of capacitor C3
+ 3.3V, operating voltage+3.3V are used to provide operating voltage to attitude transducer U1.
Further, No. 2 ends of No. 14 end connection serial ports JP17 of the coprocessor U9, the coprocessor U9
No. 3 of serial ports JP17 ends of No. 15 end connections,
No. 4 ends of No. 16 end connection chip U11 of the coprocessor U9, No. 17 ends of the coprocessor U9 connect
No. 5 ends of chip U11 are connect,
The one end at No. 1 end and resistance R47 of No. 22 end connection serial ports JP15A of the coprocessor U9, the association
The one end at No. 4 ends and resistance R48 of No. 23 end connection serial ports JP15A of processor U9, No. 26 ends of the coprocessor U9
The one end at No. 7 ends and resistance R49 of serial ports JP15A is connected, No. 27 ends of the coprocessor U9 connect the 10 of serial ports JP15A
Number end and one end of resistance R50, the other end of the other end of the other end connection resistance R48 of the resistance R47, resistance R49
With No. 41 end connection serial ports JP15A of reconnection operating voltage+5V, the coprocessor U9 after the other end of resistance R50
13 ports, No. 38 ends of the 42 connection chip U7A of the coprocessor U9, the 43 connection chips of the coprocessor U9
No. 39 ends of U7A, carry out the communication between two CPU,
No. 2 ends of serial ports J1, the coprocessor are connected after No. 44 end series resistance R22 of the coprocessor U9
No. 3 ends of serial ports J1 are connected after No. 45 end series resistance R24 of U9,
No. 2 ends of No. 46 end connection serial ports JP3 of the coprocessor U9, No. 49 ends of the coprocessor U9 connect
No. 3 ends of serial ports JP3 are connect,
No. 16 ends of No. 58 end connection serial ports JP15A of the coprocessor U9, No. 59 of the coprocessor U9
No. 19 ends of end connection serial ports JP15A, No. 22 ends of No. 61 end connection serial ports JP15A of the coprocessor U9 are described
No. 25 ends of No. 62 end connection serial ports JP15A of coprocessor U9,
No. 2 ends of No. 29 end connection serial ports JP16 of the coprocessor U9, No. 30 ends of the coprocessor U9
Connect No. 3 of serial ports JP16 ends, this is because sonar sensor MB1010 by information collection it is complete after be transferred to coprocessor U9
Analysis avoidance is carried out, coprocessor U9 is mainly the peripheral circuit serial ports expanded and storage data.
The one end at No. 7 ends and resistance R29 of the 39 connection chip U10 of the coprocessor U9, the coprocessor
The one end at No. 8 ends and resistance R30 of the 40 connection chip U10 of U9, No. 1 of the 51 connection chip U10 of the coprocessor U9
The one end at end and resistance R25, the one end at No. 2 ends and resistance R26 of the 52 connection chip U10 of the coprocessor U9 are described
Coprocessor U9 53 connection No. 5 of chip U10 ends and resistance R28 one end, the 54 connection cores of the coprocessor U9
The one end at No. 5 ends and resistance R27 of piece U10, the other end, the resistance R25 of the other end connection resistance R30 of the resistance R29
The other end, the other end of resistance R26, the other end of resistance R28, the other end of resistance R27, one end of capacitor C31 and work
No. 4 ends of the other end connection chip U10 of voltage+3.3V, the capacitor C31 and ground terminal.
The model STM32F405RGT6 of coprocessor U9.
The autogyro based on sonar, sonar sensor, attitude transducer, pressure-altitude sensor detection are outer
The variation of boundary's environment, the signal that will test pass through AD conversion module, analog quantity are converted into digital quantity, then be transferred to microelectronics
In processor, control avoidance is carried out to direction steering engine.And ambient enviroment is measured in real time, it avoids due to extraneous factor to certainly
Switch rotor machine damages.
Certainly, the above description is not a limitation of the present invention, and the present invention is also not limited to the example above, this technology neck
The variations, modifications, additions or substitutions that the technical staff in domain is made within the essential scope of the present invention also should belong to of the invention
Protection scope.
Claims (7)
1. a kind of autogyro obstacle avoidance system based on sonar, it is characterized in that: microelectronics processor U7/ coprocessor U9 is received
Sonar sensor, navigation attitude measuring appliance, position measuring appliance, velocity meter and height measuring gauge signal, at the microelectronics
Reason device U7/ coprocessor U9 transmits a signal to direction steering engine,
The direction steering engine includes lifting steering engine, aileron steering engine and throttle steering engine.
2. the autogyro obstacle avoidance system according to claim 1 based on sonar, it is characterized in that: at the microelectronics
Reason device U7 includes chip U7A and chip U7B, and No. 3 ends of No. 12 end connection crystal oscillator X2 of the chip U7A are described
Crystal oscillator X2 No. 2 ends ground connection, the crystal oscillator X2 No. 4 ends connection operating voltage+3.3V,
No. 11 ends of No. 6 of chip U7B end connection chip U7B, No. 19 ends of chip U7B, chip U7B No. 28 ends,
No. 50 ends, No. 75 ends of chip U7B and the reconnection operating voltage+3.3V behind No. 100 ends of chip U7B of chip U7B,
No. 10 of the chip U7B hold No. 99 ends at No. 74 ends at No. 27 ends, chip U7B that connect chip U7B, chip U7B
It is grounded with behind No. 20 ends of chip U7B,
No. 21 ends of the chip U7B connect operating voltage VDDA,
One end of the operating voltage VDDA connection capacitor C18, one end of capacitor C17 and one end of inductance L1, the electricity
The other end for feeling L1 connects operating voltage+3.3V, and the other end of the capacitor C18 is connect with the other end of capacitor C17 to be followed by
Ground,
Operating voltage+the 3.3V is also connected with one end of capacitor C21, one end of capacitor C22, one end of capacitor C23, capacitor
One end of C24, one end of capacitor C25, one end of capacitor C26 and capacitor C27 one end, the other end of the capacitor C21 connects
Connect the other end of capacitor C22, the other end of capacitor C23, the other end of capacitor C24, the other end of capacitor C25, capacitor C26 it is another
One end, capacitor C27 the other end after be grounded,
Operating voltage+the 3.3V is also connected with No. 5 one end held with capacitor C19 at No. 4 ends of chip U8, chip U8, described
No. 3 of chip U8 ends of other end connection of capacitor C19, No. 6 ends of chip U8, capacitor C20 one end after be grounded, the electricity
Hold No. 1 end of other end connection chip U8, No. 2 ends of chip U8 and operating voltage+5V of C20,
It is grounded after No. 94 end series resistance R16 of the chip U7A, No. 14 end connection resistance R17's of the chip U7A
The other end of one end of one end and capacitor C28, the resistance R17 connects operating voltage 3.3V, and the capacitor C28's is another
End ground connection, one end of No. 49 end connection capacitor C30 of the chip U7A, No. 73 ends of the chip U7A connect capacitor
One end of C29, the capacitor C30 the other end connection capacitor C29 the other end after be grounded.
3. the autogyro obstacle avoidance system according to claim 1 based on sonar, it is characterized in that: the elevation carrection
Pressure-altitude sensor U6 is packed into device, No. 1 end of the pressure-altitude sensor U6 connects operating voltage 3.3V, described
No. 3 ends of No. 2 end connection pressure-altitude sensor U6 of pressure-altitude sensor U6,
No. 3 ends of No. 5 end connection chip U7A of the pressure-altitude sensor U6, the 6 of the pressure-altitude sensor U6
Number No. 44 of chip U7A ends of end connection, No. 45 ends of No. 7 end connection chip U7A of the pressure-altitude sensor U6 are described
No. 8 of pressure-altitude sensor U6 end connection chip U7A No. 43 ends.
4. the autogyro obstacle avoidance system according to claim 1 based on sonar, it is characterized in that: in the memory
It is packed into chip U2,7, No. 8 ports in the chip U2 meet operating voltage 3.3V, No. 3 ports one termination in chip U2
3.3V operating voltage, and the earth is imported by C4, No. 4 ports in chip U2 import the earth, and No. 1 port in chip U2 connects core
No. 16 ports of piece U7A, No. 2 ports in chip U2 connect No. 17 ports of chip U7A, and No. 5 ports in chip U2 connect chip
No. 18 ports of U7A, No. 6 ports in chip U2 connect No. 84 ports of chip U7A.
5. the autogyro obstacle avoidance system according to claim 1 based on sonar, it is characterized in that: the sonar senses
Device includes chip U15, No. 1 end ground connection of the chip U15, No. 7 ends ground connection of the chip U15, the chip U15
No. 3 ends connect operating voltage+5V, No. 29 ports of No. 3 of chip U15 ends even coprocessor U9, the chip
No. 4 ends of U15 connect No. 30 ports of coprocessor U9.
6. the autogyro obstacle avoidance system according to claim 1 based on sonar, it is characterized in that: the navigation attitude measures
Attitude transducer U1 is packed into device, No. 11 of the attitude transducer U1 hold the one of No. 55 ends, resistance R6 that connect chip U7A
The one end at end and capacitor C6, No. 2 of the attitude transducer U1 are grounded after holding the one end for connecting capacitor C1, and the posture passes
The other end and operating voltage+3.3V of No. 3 end connection capacitor C1 of sensor U1, No. 4 ends of the attitude transducer U1 connect
Operating voltage+3.3V is connected after resistance R1,
One end of No. 5 end connection resistance R2 of the attitude transducer U1 and one end of resistance R4, the resistance R2's is another
One end connects operating voltage+3.3V, the other end ground connection of the resistance R4, No. 6 ends connection of the attitude transducer U1
One end of capacitor C5, No. 10 ends of attitude transducer U1 and ground terminal, No. 9 ends of the attitude transducer U1 connect capacitor C5
The other end,
The other end of the resistance R6 connects operating voltage 3.3V, and the other end of the capacitor C6 is grounded,
No. 56 ends of No. 14 end connection chip U7A of the attitude transducer U1,
No. 16 ends of No. 15 of attitude transducer U1 end connection attitude transducer U1, attitude transducer U1 No. 17 ends with
It is grounded behind No. 18 ends of attitude transducer U1, No. 47 ends of No. 19 end connection chip U7A of the attitude transducer U1 and electricity
One end of R3 is hindered, the other end of the resistance R3 connects operating voltage+3.3V,
The one end at No. 48 ends and resistance R7 of No. 20 end connection chip U7A of the attitude transducer U1, the resistance R7
The other end connect operating voltage 3.3V,
It is grounded behind one end and one end of capacitor C3 of No. 25 end connection capacitor C2 of the attitude transducer U1,
The other end of No. 28 of attitude transducer U1 end connection capacitor C2, the other end and operating voltage of capacitor C3+
3.3V。
7. the autogyro obstacle avoidance system according to claim 1 based on sonar, it is characterized in that: the coprocessor
No. 2 ends of No. 14 end connection serial ports JP17 of U9, No. 3 ends of No. 15 end connection serial ports JP17 of the coprocessor U9,
No. 4 ends of No. 16 end connection chip U11 of the coprocessor U9, No. 17 ends of the coprocessor U9 connect core
No. 5 ends of piece U11,
The one end at No. 1 end and resistance R47 of No. 22 end connection serial ports JP15A of the coprocessor U9, association's processing
The one end at No. 4 ends and resistance R48 of No. 23 end connection serial ports JP15A of device U9, No. 26 ends connection of the coprocessor U9
The one end at No. 7 ends and resistance R49 of serial ports JP15A, No. 10 ends of No. 27 end connection serial ports JP15A of the coprocessor U9
With one end of resistance R50, the other end of the resistance R47 connects the other end and electricity of the other end of resistance R48, resistance R49
Operating voltage+5V, 13 ends of No. 41 end connection serial ports JP15A of the coprocessor U9 are reconnected after hindering the other end of R50
Mouthful, No. 38 ends of the 42 connection chip U7A of the coprocessor U9, the 43 connection chip U7A's of the coprocessor U9
No. 39 ends,
No. 2 ends of serial ports J1 are connected after No. 44 end series resistance R22 of the coprocessor U9, the coprocessor U9's
No. 3 ends of serial ports J1 are connected after No. 45 end series resistance R24,
No. 2 ends of No. 46 end connection serial ports JP3 of the coprocessor U9, No. 49 ends of the coprocessor U9 connect string
No. 3 ends of mouth JP3,
No. 16 ends of No. 58 end connection serial ports JP15A of the coprocessor U9, No. 59 ends of the coprocessor U9 connect
No. 19 ends of serial ports JP15A are connect, No. 22 of No. 61 end connection serial ports JP15A of the coprocessor U9 are held, at the association
No. 25 ends of No. 62 end connection serial ports JP15A of device U9 are managed,
No. 2 ends of No. 29 end connection serial ports JP16 of the coprocessor U9, No. 30 ends connection of the coprocessor U9
No. 3 ends of serial ports JP16.
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